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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 15:44:56 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 15:44:56 +0200 |
commit | d9a7e528b056556112c74d13a86f30bdab88f635 (patch) | |
tree | 07ddf65edf4e1a952a1ef2f87d7c9f172226ac52 /src/modules/systemlib | |
parent | 8d1df9ba87ee152ca35ddbfa94924b868db62d64 (diff) | |
download | px4-firmware-d9a7e528b056556112c74d13a86f30bdab88f635.tar.gz px4-firmware-d9a7e528b056556112c74d13a86f30bdab88f635.tar.bz2 px4-firmware-d9a7e528b056556112c74d13a86f30bdab88f635.zip |
Multirotor mixer: idle_speed (aka deadband) fixed
Diffstat (limited to 'src/modules/systemlib')
-rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 2 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 12 |
2 files changed, 5 insertions, 9 deletions
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 1c889a811..fa9d28b74 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -516,7 +516,7 @@ private: float _roll_scale; float _pitch_scale; float _yaw_scale; - float _deadband; + float _idle_speed; unsigned _rotor_count; const Rotor *_rotors; diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 8568f9e60..1ca0a21e9 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -176,12 +176,12 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb, float roll_scale, float pitch_scale, float yaw_scale, - float deadband) : + float idle_speed) : Mixer(control_cb, cb_handle), _roll_scale(roll_scale), _pitch_scale(pitch_scale), _yaw_scale(yaw_scale), - _deadband(-1.0f + deadband), /* shift to output range here to avoid runtime calculation */ + _idle_speed(-1.0f + idle_speed * 2.0f), /* shift to output range here to avoid runtime calculation */ _rotor_count(_config_rotor_count[geometry]), _rotors(_config_index[geometry]) { @@ -338,15 +338,11 @@ MultirotorMixer::mix(float *outputs, unsigned space) scale_out = 1.0f; } + /* scale outputs to range _idle_speed..1 */ for (unsigned i = 0; i < _rotor_count; i++) { - outputs[i] = -1.0f + (outputs[i] * 2 * scale_out); + outputs[i] = _idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out); } - /* ensure outputs are out of the deadband */ - for (unsigned i = 0; i < _rotor_count; i++) - if (outputs[i] < _deadband) - outputs[i] = _deadband; - return _rotor_count; } |